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Desire keep pulsing is dead (#38187)

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This commit is contained in:
Harald Schäfer
2026-06-17 13:48:53 -04:00
committed by GitHub
parent d4db600d4b
commit ddc8d37136
1 changed files with 0 additions and 11 deletions
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selfdrive/controls/lib/desire_helper.py
-11
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@@ -36,7 +36,6 @@ class DesireHelper:
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
self.lane_change_ll_prob = 1.0
self.keep_pulse_timer = 0.0
self.prev_one_blinker = False
self.desire = log.Desire.none
@@ -107,13 +106,3 @@ class DesireHelper:
self.prev_one_blinker = one_blinker
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# Send keep pulse once per second during LaneChangeStart.preLaneChange
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
self.keep_pulse_timer = 0.0
elif self.lane_change_state == LaneChangeState.preLaneChange:
self.keep_pulse_timer += DT_MDL
if self.keep_pulse_timer > 1.0:
self.keep_pulse_timer = 0.0
elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
self.desire = log.Desire.none